Disclosed is a vehicle communication device including a plurality of communication modules disposed at a plurality of areas of a vehicle, the plurality of communication modules being configured to receive signals from a plurality of sensor devices mounted to the vehicle, and a signal processing device disposed between the areas of the vehicle, wherein each communication module includes a first connector configured to receive signals from some of the plurality of sensor devices at a first communication speed, a second connector configured to communicate with the signal processing device at a second communication speed, and an Ethernet switch configured to perform switching. Accordingly, wiring harnesses between the plurality of sensor devices and the signal processing device may be simply implemented.